Brazilian centre-back Jesus alleged that Acerbi used a racist term towards him during Napoli's 1-1 draw with the Serie A leaders on March 17, where he scored his side's equalising goal.
Jesus made the on-field referee aware of Acerbi's alleged comment, although he appeared to let bygones be bygones immediately after the game, saying that he forgave the Italian for his remark in the heat of the moment.
However, after Acerbi denied using any racist language following his release from the Italy national team, Jesus slammed the 36-year-old on social media for changing his story, and an investigation was undertaken by the authorities.
Acerbi could have been hit with a 10-match ban had Jesus's accusations been proven, but following the conclusion by the FIGC Prosecutor's office, Serie A's sports judge found the Inter man not guilty on account of a lack of evidence.
The verdict read that Acerbi did not deny using "offensive or threatening" language, but Jesus's allegations of a racist remark were not backed up by audio or video evidence, nor were they proven by eyewitness testimonies.
The Napoli defender - who is unable to appeal the decision - released a lengthy statement on the Partenopei's website lambasting the verdict, while also admitting that he is concerned about a "serious precedent" being set for future cases of alleged racism.
"I have read several times and with great disappointment the decision of the sports judge, who felt there was no evidence that I was the victim of a racist insult during the match between Inter and Napoli on 17 March. While respecting the decision, it is one I find difficult to comprehend and it leaves me feeling very bitter," Jesus wrote.
"Quite honestly I am crestfallen by such a serious incident in which my only mistake was that I dealt with it 'as a gentleman', deciding not to interrupt an important game, with all the inconvenience that would have caused the spectators watching the match. I did so believing that such an attitude would have been respected, and perhaps taken as an example.
"Following this decision, I imagine that anyone else finding themselves in a similar situation to mine will act in a very different manner, in order to protect themselves and to curb the disgrace of racism, which, sadly, we are struggling to rid ourselves of.
"I do not feel in any way protected by a decision which both admits that "there was certainly evidence of the insult" and maintains there is no certainty that it was of a discriminatory nature, which only I perceived "in good faith". I really do not understand how "go away negro, you're just a negro" can be considered to be certainly offensive but not discriminatory.
"I do not understand all the commotion that evening if it really was "just an insult", for which Acerbi himself felt the need to apologise, the referee decided to notify VAR, the match was suspended for over a minute and his team-mates hurried to speak to me. I cannot fathom why Acerbi only started to change his version of the events the following day while with the national team, instead of denying it immediately after the match, when it actually happened.
"I didn't expect it to end like this. I fear - and I hope I am wrong - that this could set a serious precedent for justifying certain behaviour after the event. I sincerely hope that this (for me) sad matter can help the world of football to reflect on an issue that is both serious and urgent."
Immediately after the judge's verdict was announced, Napoli also hit out at the decision, which left the club "incredibly stunned" and led them to claim that Serie A's anti-racism and discrimination initiatives are "purely for show".
Napoli are back in Serie A action at home to Atalanta BC on Satuday lunchtime following the international break, two days before Inter host Empoli at San Siro.